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Rev 1910 | Rev 2099 | ||
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1 | #include "externalcontrol.h" |
1 | #include "externalControl.h" |
2 | #include "configuration.h" |
2 | #include "configuration.h" |
3 | #include "controlMixer.h" |
3 | #include "controlMixer.h" |
4 | 4 | ||
5 | ExternalControl_t externalControl; |
5 | ExternalControl_t externalControl; |
6 | uint8_t externalControlActive; |
6 | uint8_t externalControlActive = 0; |
7 | - | ||
8 | int16_t EC_EATR[4]; |
7 | // int16_t EC_PRTY[4]; |
9 | - | ||
10 | // TODO: Who is going to call this |
8 | // TODO: Who is going to call this |
- | 9 | ||
11 | void EC_setNeutral(void) { |
10 | void EC_setNeutral(void) { |
12 | // if necessary. From main.c. |
11 | // if necessary. From main.c. |
13 | externalControl.config = 0; |
12 | externalControl.config = 0; |
14 | externalControl.pitch = 0; |
13 | externalControl.pitch = 0; |
15 | externalControl.roll = 0; |
14 | externalControl.roll = 0; |
16 | externalControl.yaw = 0; |
15 | externalControl.yaw = 0; |
17 | externalControl.throttle = 0; |
16 | externalControl.throttle = 0; |
18 | 17 | ||
19 | // From main.c. What does it do?? |
18 | // From main.c. What does it do?? |
20 | externalControl.digital[0] = 0x55; |
19 | externalControl.digital[0] = 0x55; |
- | 20 | } |
|
21 | } |
21 | |
22 | 22 | void EC_periodicTaskAndPRTY(int16_t* PRTY) { |
|
- | 23 | if (externalControlActive) { |
|
- | 24 | externalControlActive--; |
|
- | 25 | PRTY[CONTROL_ELEVATOR] += externalControl.pitch * 8; |
|
- | 26 | PRTY[CONTROL_AILERONS] += externalControl.roll * 8; |
|
- | 27 | PRTY[CONTROL_THROTTLE] += externalControl.throttle * 8; |
|
23 | int16_t* EC_getEATR(void) { |
28 | PRTY[CONTROL_RUDDER] += externalControl.yaw * 8; |
24 | return EC_EATR; |
29 | } |
25 | } |
30 | } |
26 | 31 | ||
27 | uint8_t EC_getArgument(void) { |
32 | uint8_t EC_getArgument(void) { |
28 | return externalControl.config; |
33 | return externalControl.config; |
29 | } |
34 | } |
30 | 35 | ||
31 | uint8_t EC_getCommand(void) { |
36 | uint8_t EC_getCommand(void) { |
32 | return externalControl.free; |
37 | return externalControl.free; |
33 | } |
38 | } |
34 | 39 | ||
35 | // not implemented. |
40 | // not implemented. |
36 | int16_t EC_getVariable(uint8_t varNum) { |
41 | int16_t EC_getVariable(uint8_t varNum) { |
37 | return 0; |
42 | return 0; |
38 | } |
- | |
39 | - | ||
40 | void EC_update() { |
- | |
41 | if (externalControlActive) { |
- | |
42 | externalControlActive--; |
- | |
43 | EC_EATR[CONTROL_ELEVATOR] = externalControl.pitch * 4; |
- | |
44 | EC_EATR[CONTROL_AILERONS] = externalControl.roll * 4; |
- | |
45 | EC_EATR[CONTROL_THROTTLE] = externalControl.throttle; |
- | |
46 | EC_EATR[CONTROL_RUDDER ] = externalControl.yaw; // No stickP or similar?????? |
- | |
47 | } else { |
- | |
48 | EC_EATR[CONTROL_ELEVATOR] = EC_EATR[CONTROL_AILERONS] = EC_EATR[CONTROL_THROTTLE] = EC_EATR[CONTROL_RUDDER] = 0; |
- | |
49 | } |
- | |
50 | } |
43 | } |
51 | 44 | ||
52 | uint8_t EC_getSignalQuality(void) { |
45 | uint8_t EC_getSignalQuality(void) { |
53 | if (externalControlActive > 40) |
46 | if (externalControlActive > 40) |
54 | // Configured and heard from recently |
47 | // Configured and heard from recently |
55 | return SIGNAL_GOOD; |
48 | return SIGNAL_GOOD; |
56 | 49 | ||
57 | if (externalControlActive) |
50 | if (externalControlActive) |
58 | // Configured and heard from |
51 | // Configured and heard from |
59 | return SIGNAL_OK; |
52 | return SIGNAL_OK; |
60 | 53 | ||
61 | if (!(externalControl.config & 0x01 && dynamicParams.ExternalControl > 128)) |
54 | if (!(externalControl.config & 0x01 && dynamicParams.externalControl > 128)) |
62 | // External control is not even configured. |
55 | // External control is not even configured. |
63 | return NO_SIGNAL; |
56 | return NO_SIGNAL; |
64 | 57 | ||
65 | // Configured but expired. |
58 | // Configured but expired. |
66 | return SIGNAL_LOST; |
59 | return SIGNAL_LOST; |
67 | } |
60 | } |
68 | 61 |